version: 66.06
glider: 146
mission: 7
dive: 138
start: 6 16 112 5 32 2
data:
$ID,146
$MISSION,7
$DIVE,138
$D_SURF,4
$D_FLARE,3
$D_TGT,700
$D_ABORT,800
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,233
$T_MISSION,500
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,140
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52355
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,380
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-290532.16
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3144
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,45
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2180
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,72
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3150
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,94
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-29.527605
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,10
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,1
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043256786
$SEABIRD_T_H,0.0006194216
$SEABIRD_T_I,2.1253354e-05
$SEABIRD_T_J,2.0307182e-06
$SEABIRD_C_G,-9.7992477
$SEABIRD_C_H,1.0845563
$SEABIRD_C_I,-0.0017217569
$SEABIRD_C_J,0.00021252052
$GPS1,052407,2255.064,-15805.159,30,1.0,30,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-71.6
$GPS2,053107,2255.049,-15805.089,12,1.6,12,10.1
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,BHOENW
$TGT_LATLONG,2304.386,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.024,0.251
$KALMAN_X,-26027.4,94.7,-12.6,23607.1,546.7
$KALMAN_Y,37763.8,68.1,174.6,-11217.1,174.5
$MHEAD_RNG_PITCHd_Wd,344.3,17319,-18.2,-10.014
$D_GRID,700
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.31,-136.3,0.0,0.0,0,115,0.00,0.00,-87.68,0.000,6,0.000,0.000,466,2105,3707,0,0,0,0,0,0
$GC,119,-1.31,-136.3,4.2,-11.2,12,137,13.18,2.67,0.00,0.000,4,0.173,0.030,2855,3735,3708,0,0,0,0,0,0
$GC,293,-1.17,-136.3,43.8,-15.3,31,299,0.15,2.45,0.00,0.000,6,0.127,0.024,2885,2188,3709,0,0,0,0,0,0
$GC,562,-1.10,-136.3,77.8,-12.5,55,566,0.00,2.67,0.00,0.000,4,0.000,0.048,2867,574,3710,0,0,0,0,0,0
$GC,586,-1.01,-136.3,81.8,-12.3,56,595,0.12,2.45,0.00,0.000,6,0.091,0.016,2918,2152,3710,0,0,0,0,0,0
$GC,854,-1.01,-136.3,107.4,-9.0,81,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2153,3710,0,0,0,0,0,0
$GC,1115,-1.01,-136.3,132.5,-9.3,106,1116,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2153,3710,0,0,0,0,0,0
$GC,1375,-1.01,-136.3,155.0,-8.1,130,1380,0.00,2.62,0.00,0.000,4,0.000,0.047,2917,569,3711,0,0,0,0,0,0
$GC,1428,-1.06,-136.3,159.7,-7.8,134,1432,0.00,2.40,0.00,0.000,6,0.000,0.021,2917,2148,3711,0,0,0,0,0,0
$GC,1693,-1.12,-136.3,181.6,-8.1,158,1698,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2148,3711,0,0,0,0,0,0
$GC,1953,-1.18,-136.3,203.3,-8.1,180,1955,0.12,0.00,0.00,0.000,6,0.072,0.000,2869,2148,3711,0,0,0,0,0,0
$GC,2196,-1.18,-136.3,225.4,-9.0,186,2200,0.00,2.50,0.00,0.000,4,0.000,0.033,2869,3723,3712,0,0,0,0,0,0
$GC,2219,-1.18,-136.3,227.5,-9.2,186,2223,0.00,2.50,0.00,0.000,6,0.000,0.028,2868,2135,3712,0,0,0,0,0,0
$GC,2474,-1.18,-136.3,250.8,-9.3,193,2479,0.00,2.62,0.00,0.000,4,0.000,0.064,2869,573,3711,0,0,0,0,0,0
$GC,2518,-1.18,-136.3,255.3,-10.0,194,2522,0.00,2.40,0.00,0.000,6,0.000,0.021,2869,2129,3712,0,0,0,0,0,0
$GC,2798,-1.18,-136.3,281.0,-9.3,201,2803,0.00,2.55,0.00,0.000,4,0.000,0.041,2860,3728,3711,0,0,0,0,0,0
$GC,2848,-1.18,-136.3,285.9,-9.2,202,2855,1.12,2.53,0.00,0.000,6,0.067,0.028,2918,2137,3712,4,0,0,0,0,0
$GC,3124,-1.81,-136.3,301.7,-6.8,209,3133,1.65,2.72,0.00,0.000,4,0.044,0.065,2730,569,3711,0,0,0,0,0,0
$GC,3203,-1.51,-136.3,310.8,-14.5,210,3208,0.40,2.45,0.00,0.000,6,0.098,0.023,2813,2122,3710,0,0,0,0,0,0
$GC,3453,-1.43,-136.3,338.7,-11.0,216,3457,0.00,2.67,0.00,0.000,4,0.000,0.067,2814,568,3709,0,0,0,0,0,0
$GC,3494,-1.32,-136.3,343.0,-10.7,217,3499,0.20,2.45,0.00,0.000,6,0.107,0.035,2855,2100,3709,0,0,0,0,0,0
$GC,3778,-1.32,-136.3,368.1,-8.5,224,3782,0.00,2.67,0.00,0.000,4,0.000,0.050,2849,3735,3708,0,0,0,0,0,0
$GC,3853,-1.32,-136.3,374.4,-8.4,225,3857,0.00,2.62,0.00,0.000,6,0.000,0.040,2855,2132,3708,0,0,0,0,0,0
$GC,4103,-1.32,-136.3,395.3,-8.2,231,4107,0.00,2.62,0.00,0.000,4,0.000,0.044,2851,3734,3706,0,0,0,0,0,0
$GC,4135,-1.32,-136.3,398.2,-9.1,231,4145,2.08,2.65,0.00,0.000,6,0.071,0.047,2917,2132,3706,7,0,0,0,0,0
$GC,4432,-2.46,-136.3,414.4,-6.4,239,4441,3.12,2.67,0.00,0.000,4,0.049,0.045,2568,3725,3704,0,0,0,0,0,0
$GC,4697,-1.97,-136.3,461.8,-18.9,244,4704,0.57,2.72,0.00,0.000,6,0.107,0.055,2713,2123,3702,0,0,0,0,0,0
$GC,4947,-1.72,-136.3,494.4,-12.4,251,4953,0.25,2.75,0.00,0.000,4,0.184,0.058,2767,3734,3700,0,0,0,0,0,0
$GC,5167,-1.58,-136.3,517.1,-10.5,256,5172,0.15,2.78,0.00,0.000,6,0.122,0.063,2797,2124,3699,0,0,0,0,0,0
$GC,5451,-1.50,-136.3,542.3,-9.0,263,5456,0.00,2.75,0.00,0.000,4,0.000,0.068,2797,3724,3697,0,0,0,0,0,0
$GC,5497,-1.42,-136.3,546.7,-9.6,264,5503,0.35,2.75,0.00,0.000,6,0.108,0.067,2864,2131,3697,1,0,0,0,0,0
$GC,5776,-1.50,-136.3,564.5,-6.0,271,5782,0.25,2.75,0.00,0.000,4,0.052,0.070,2799,3724,3695,0,0,0,0,0,0
$GC,5846,-1.43,-136.3,570.7,-9.2,272,5851,0.15,2.75,0.00,0.000,6,0.114,0.067,2831,2139,3694,0,0,0,0,0,0
$GC,6101,-1.43,-136.3,590.5,-7.4,279,6102,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2139,3692,0,0,0,0,0,0
$GC,6345,-1.43,-136.3,609.9,-8.0,285,6346,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2139,3691,0,0,0,0,0,0
$GC,6589,-1.43,-136.3,631.3,-8.9,291,6593,0.00,2.88,0.00,0.000,4,0.000,0.091,2831,3730,3690,0,0,0,0,0,0
$GC,6657,-1.43,-136.3,637.9,-10.0,292,6662,0.00,2.88,0.00,0.000,6,0.000,0.092,2831,2135,3689,0,0,0,0,0,0
$GC,6912,-1.43,-136.3,659.9,-8.5,299,6917,0.00,2.95,0.00,0.000,4,0.000,0.106,2831,3727,3687,0,0,0,0,0,0
$GC,6953,-1.43,-136.3,663.1,-8.1,300,6958,0.00,2.92,0.00,0.000,6,0.000,0.100,2831,2149,3687,0,0,0,0,0,0
$GC,7236,-1.43,-136.3,683.2,-6.7,307,7241,0.00,2.95,0.00,0.000,4,0.000,0.113,2830,3721,3686,0,0,0,0,0,0
$GC,7269,-1.43,-136.3,685.5,-6.9,307,7274,0.00,2.97,0.00,0.000,6,0.000,0.110,2806,2148,3686,0,0,0,0,0,0
$STATE,7516,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7516,begin apogee
$GC,7524,-0.31,0.0,700.3,5.9,314,7639,1.08,0.00,111.00,1.098,6,0.085,0.000,3074,2148,3150,0,0,0,0,0,0
$STATE,7640,end apogee,CONTROL_FINISHED_OK
$STATE,7640,begin climb
$GC,7642,1.31,136.3,700.3,0.0,317,7767,1.50,0.00,116.88,1.062,6,0.046,0.000,3429,2147,2593,0,0,0,0,0,0
$GC,8011,1.16,136.3,658.3,13.0,326,8017,0.17,2.97,0.00,0.000,4,0.142,0.097,3390,3750,2585,0,0,0,0,0,0
$GC,8078,1.08,136.3,649.9,11.3,327,8083,0.00,2.90,0.00,0.000,6,0.000,0.092,3397,2175,2584,0,0,0,0,0,0
$GC,8335,0.99,136.3,622.7,10.5,334,8341,0.17,2.85,0.00,0.000,4,0.118,0.084,3363,3750,2582,0,0,0,0,0,0
$GC,8369,1.00,141.5,619.0,9.8,334,8378,0.00,2.83,3.90,0.634,6,0.000,0.077,3363,2178,2573,0,0,0,0,0,0
$GC,8663,1.01,153.9,591.7,9.4,342,8682,0.00,3.12,12.60,0.940,4,0.000,0.117,3362,593,2521,0,0,0,0,0,0
$GC,8695,1.01,153.9,588.3,10.8,342,8699,0.00,2.70,0.00,0.000,6,0.000,0.054,3362,2160,2520,0,0,0,0,0,0
$GC,8944,1.01,153.9,562.4,10.3,348,8949,0.00,2.85,0.00,0.000,4,0.000,0.083,3362,3766,2518,0,0,0,0,0,0
$GC,8988,1.01,153.9,557.4,11.0,349,8992,0.00,2.72,0.00,0.000,6,0.000,0.060,3362,2180,2517,0,0,0,0,0,0
$GC,9268,1.01,153.9,529.4,10.1,356,9272,0.00,2.75,0.00,0.000,4,0.000,0.058,3362,3766,2516,0,0,0,0,0,0
$GC,9300,1.01,153.9,525.7,10.4,356,9307,1.25,2.72,0.00,0.000,6,0.043,0.054,3428,2179,2516,4,0,0,0,0,0
$GC,9550,0.45,153.9,470.6,22.9,363,9560,2.15,2.72,0.00,0.000,4,0.138,0.048,3247,3773,2514,0,0,0,0,0,0
$GC,9625,0.82,234.4,464.3,6.0,364,9705,0.30,2.62,71.32,0.945,6,0.044,0.041,3330,2194,2193,0,0,0,0,0,0
$GC,9970,0.95,247.9,434.1,9.3,373,9989,0.00,2.97,12.15,0.846,4,0.000,0.087,3330,595,2138,0,0,0,0,0,0
$GC,10052,1.08,259.2,425.8,9.5,374,10071,0.20,2.62,11.62,0.831,6,0.058,0.032,3383,2200,2093,0,0,0,0,0,0
$GC,10347,1.08,259.2,390.2,12.3,382,10352,0.00,2.78,0.00,0.000,4,0.000,0.064,3383,590,2089,0,0,0,0,0,0
$GC,10368,1.08,259.2,386.9,13.2,382,10373,0.00,2.58,0.00,0.000,6,0.000,0.028,3383,2189,2088,0,0,0,0,0,0
$GC,10624,1.08,259.2,357.4,11.5,389,10628,0.00,2.58,0.00,0.000,4,0.000,0.047,3383,3766,2087,0,0,0,0,0,0
$GC,10656,1.08,259.2,353.5,12.1,389,10662,0.00,2.58,0.00,0.000,6,0.000,0.039,3383,2191,2086,0,0,0,0,0,0
$GC,10908,1.08,259.2,324.5,11.5,396,10913,0.00,2.75,0.00,0.000,4,0.000,0.067,3384,594,2086,0,0,0,0,0,0
$GC,10957,1.08,259.2,318.2,12.1,397,10962,0.00,2.55,0.00,0.000,6,0.000,0.024,3383,2190,2085,0,0,0,0,0,0
$GC,11231,1.08,259.2,287.1,11.4,404,11236,0.00,2.58,0.00,0.000,4,0.000,0.045,3372,3762,2085,0,0,0,0,0,0
$GC,11281,1.14,259.2,281.0,12.4,405,11285,0.00,2.55,0.00,0.000,6,0.000,0.036,3383,2182,2084,0,0,0,0,0,0
$GC,11553,1.18,259.2,250.6,11.3,412,11557,0.00,2.58,0.00,0.000,4,0.000,0.041,3384,3758,2084,0,0,0,0,0,0
$GC,11587,1.23,259.2,246.5,12.5,412,11594,0.12,2.53,0.00,0.000,6,0.078,0.035,3417,2202,2084,0,0,0,0,0,0
$GC,11837,1.23,259.2,215.0,12.4,419,11842,0.00,2.70,0.00,0.000,4,0.000,0.061,3417,599,2084,0,0,0,0,0,0
$GC,11870,1.19,259.2,210.6,13.0,419,11875,0.00,2.55,0.00,0.000,6,0.000,0.022,3417,2208,2083,0,0,0,0,0,0
$GC,12127,1.19,259.2,181.1,12.0,435,12131,0.00,2.50,0.00,0.000,4,0.000,0.043,3417,3755,2083,0,0,0,0,0,0
$GC,12148,1.19,259.2,178.8,11.7,436,12152,0.00,2.50,0.00,0.000,6,0.000,0.028,3417,2203,2083,0,0,0,0,0,0
$GC,12411,1.19,259.2,147.3,11.4,460,12415,0.00,2.67,0.00,0.000,4,0.000,0.054,3417,597,2083,0,0,0,0,0,0
$GC,12469,1.19,259.2,140.1,12.2,464,12478,0.00,2.55,0.00,0.000,6,0.000,0.021,3417,2201,2083,0,0,0,0,0,0
$GC,12735,1.19,259.2,108.7,12.8,489,12739,0.00,2.67,0.00,0.000,4,0.000,0.050,3417,597,2083,0,0,0,0,0,0
$GC,12753,1.19,259.2,106.0,12.9,490,12757,0.00,2.50,0.00,0.000,6,0.000,0.020,3417,2197,2083,0,0,0,0,0,0
$GC,13019,1.19,259.2,75.9,10.4,514,13024,0.00,2.50,0.00,0.000,4,0.000,0.035,3417,3757,2084,0,0,0,0,0,0
$GC,13066,1.24,259.2,70.8,11.3,517,13071,0.00,2.47,0.00,0.000,6,0.000,0.027,3417,2194,2085,0,0,0,0,0,0
$GC,13334,1.28,259.2,43.7,10.4,541,13339,0.00,2.62,0.00,0.000,4,0.000,0.049,3417,599,2085,0,0,0,0,0,0
$GC,13380,1.28,259.2,38.2,11.5,544,13384,0.00,2.47,0.00,0.000,6,0.000,0.019,3417,2200,2086,0,0,0,0,0,0
$GC,13699,1.35,320.5,8.4,7.0,585,13752,0.00,0.00,50.60,0.525,2,0.000,0.000,3417,2202,1852,0,0,0,0,0,0
$STATE,13752,end climb,SURFACE_DEPTH_REACHED
$STATE,13753,begin surface coast
$FINISH,-0.6,1.023579
$STATE,13814,end surface coast,CONTROL_FINISHED_OK
$STATE,13815,begin surface
$SM_CCo,13838,48.92,0.515,0,0,1600,380.21
$SM_GC,0.23,0.00,0.00,48.92,0.000,0.000,0.515,467,2060,1600,-12.31,-2.54,380.21
$IRIDIUM_FIX,2246.36,-15813.22,100901,010121
$TT8_MAMPS,0.026078
$HUMID,59.80
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,22.00
$XPDR_PINGS,60
$24V_AH,23.3,19.884
$10V_AH,10.3,18.614
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,42.675,186.925,390.075,48.925,0.000,30.770,34.068,198.547,15.000,0.000,13.992,1292.094,9472.210,536.751,2353.146,649.427,33.364,1500.090,0.000,2349.402,0.000,0.534,0.000
$DEVICE_MAMPS,184.080,116.584,1097.577,515.424,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,407.187,309.906,415.285,757.326,1145.284,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355852
$DATA_FILE_SIZE,47915,600
$CAP_FILE_SIZE,145829,0
$CFSIZE,260165632,138067968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,16,0,0,0
$GPS,160612,092436,2256.546,-15804.986,24,1.7,24,10.1